include  "slam_localization.lua" 
 
options.use_odometry = true
options.use_nav_sat = false
options.use_landmarks = false
options.use_qr_code = false
options.cache_data_time_duration_sec = 600
 
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_odom_in_front = true
TRAJECTORY_BUILDER_2D.use_reflector = false
 
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 1
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(3.000000)
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.050000
 
TRAJECTORY_BUILDER_2D.min_reflector_intensity = 10
TRAJECTORY_BUILDER_2D.max_reflector_intensity = 400
TRAJECTORY_BUILDER_2D.reflector_dector.reflector_length = 0.100000
TRAJECTORY_BUILDER_2D.reflector_dector.reflector_type = 1
TRAJECTORY_BUILDER_2D.reflector_dector.reflector_radius = 0.025000
TRAJECTORY_BUILDER_2D.max_reflector_range = 10.000000
TRAJECTORY_BUILDER_2D.reflector_dector.min_reflector_counter_per_cluster = 5
TRAJECTORY_BUILDER_2D.reflector_dector.radius_error = 0.010000
 
POSE_GRAPH.use_reflector = false
POSE_GRAPH.constraint_builder.min_score = 0.550000
POSE_GRAPH.slam_evaluator.distance_traveled_threshold = 10.000000
 
return options
